The Gokyo is a set of 40 nage-waza, or throwing techniques. It was established as a sort of official curriculum by the Kodokan back in 1895, and revised a few more times along the way. Unfortunately the throws which involve touching the legs or pants are illegal under current IJF rules – kata-guruma, ura-nage, and sukui-nagae among them.
Neil Adams is a former world champion from Great Britain. In this hour-long video Adams demonstrates each of the throws in the Gokyo, and video is shown of each throw being done successfully in competition. It’s a great video to watch all the way through, but the first three minutes show de-ashi-barai, a throw we’ve been working on lately.